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# Multi_camera_synced_verification_tool
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# Multi-Camera Synchronization Verification Node
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> This article will introduce how to verify the synchronization accuracy of multi-camera synchronization.
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>
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> First, please see how to use [multi_camera_synced](./multi_camera_synced.md).
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**File path:** [image_sync_example_node.cpp](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp)
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You can find example usage code in the [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples).
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This example node is designed for **synchronized capture and timestamp verification** across **four Orbbec cameras**.
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It can be used to validate frame alignment accuracy under the multi-camera **Primary / Secondary Synced** mode.
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## Directory Structure
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---
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## Usage Guide
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### **Modify `multi_camera_synced.launch.py` as follows**
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- Add `launch_include` to support four cameras.
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- Select the appropriate launch file based on your camera model.
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For example, use `gemini_330_series.launch.py` for the Gemini 330 series.
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- Naming convention:
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`camera_name` should follow the format `camera_01`, `camera_02`, `camera_03`, ...
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- Set `device_num` to **4**.
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- Configure the USB ports using:
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`ros2 run orbbec_camera list_devices_node`
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to view and bind the correct ports.
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- Set synchronization mode to **Primary/Secondary Synced**,
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with one camera as **primary** and the others as **secondary_synced**.
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- **Startup sequence:**
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The **Primary camera should always be launched last** to ensure the synchronization signal is established correctly.
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---
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### **Modify configuration files**
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Edit the following two files under the `config` directory:
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- `camera_params.yaml`
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- `camera_secondary_params.yaml`
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Ensure the following settings are consistent across all cameras:
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- Enable both **depth** and **color** streams.
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- Use the same **frame rate (fps)** for all cameras.
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---
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### **Launch and Verification**
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- Start the multi-camera synchronization launch file:
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`ros2 launch orbbec_camera multi_camera_synced.launch.py`
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- In a new terminal, run the synchronization verification node:
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`ros2 run orbbec_camera image_sync_example_node`
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This node outputs timestamp differences between multiple camera streams for synchronization validation.
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---
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### **Reference Launch File**
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```plaintext
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.
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├── multicamera_sync/
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│ ├── output/
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│ ├──20250218102900/
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│ ├──DevicesInfo.txt
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│ ├──StreamProfileInfo.txt
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│ ├── Python/
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│ ├──Config.ini
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├── gemini_330_series_synced_verify.launch.py
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├── multi_camera_synced_verify.launch.py
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```
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node, LoadComposableNodes
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**multicamera_sync**
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* `gemini_330_series_synced_verify.launch.py` : Single camera runs launch, which provides the camera running node for multi_camera_synced_verify.launch.py.
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* `multi_camera_synced_verify.launch.py` : Multi camer synced + launch of save_rgbir tool.
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**output**
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory("orbbec_camera")
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launch_file_dir = os.path.join(package_dir, "launch")
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config_file_dir = os.path.join(package_dir, "config")
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config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
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secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
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> The `ouput` folder is the folder where the camera pictures are output
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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_01",
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"usb_port": "2-2.3",
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"device_num": "4",
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"sync_mode": "primary",
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"config_file_path": config_file_path,
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"trigger_out_enabled": "true"
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}.items(),
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)
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In the output example provided
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_02",
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"usb_port": "2-1",
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"device_num": "4",
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"sync_mode": "secondary_synced",
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"config_file_path": secondary_config_file_path,
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"trigger_out_enabled": "false"
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}.items(),
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)
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* `20250218102900` : Represents the camera image information collected at 10:29:00 on February 18, 2025.
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* `TotalModeFrames` : Camera image information storage directory.
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* `results-2025-02-25_163648` : The result after analyzing and matching the image information of TotalModeFrames.
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* `DevicesInfo.txt` : Camera equipment basic information (need to be modified).
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* `StreamProfileInfo.txt` : Camera video stream information (no need to modify).
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launch3_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_03",
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"usb_port": "2-3",
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"device_num": "4",
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"sync_mode": "secondary_synced",
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"config_file_path": secondary_config_file_path,
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"trigger_out_enabled": "false"
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}.items(),
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)
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**Python**
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launch4_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_04",
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"usb_port": "2-4",
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"device_num": "4",
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"sync_mode": "secondary_synced",
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"config_file_path": secondary_config_file_path,
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"trigger_out_enabled": "false"
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}.items(),
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)
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* `Config.ini` : Configuration file for Python analysis script (need to be modified).
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## Preparation for operation
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**save_rgbir node**
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Edit multi_camera_synced_verify.launch.py and fill in the activated camera device,we can find that save_rgbir is started at the end.
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> IMPORTANT
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>
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> If you are using ROS 2 Foxy, you need to launch the save_rgbir node first.
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```python
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# Launch description
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# Launch description
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ld = LaunchDescription(
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[
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shared_orbbec_container,
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TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
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TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
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TimerAction(period=2.0, actions=[GroupAction([launch3_include])]),
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TimerAction(period=4.0, actions=[GroupAction([launch4_include])]),
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TimerAction(period=6.0, actions=[GroupAction([launch1_include])]),
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# The primary camera should be launched at last
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TimerAction(period=6.0, actions=[GroupAction([save_rgbir])]),
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# save_rgbir is synced verification tool
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]
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)
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return ld
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```
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save_rgbir is a tool for saving images. The configuration file of this tool is in [multi_save_rgbir_params.json](../../config/tools/multisavergbir/multi_save_rgbir_params.json).
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```json
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{
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"save_rgbir_params": {
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"time_domain": "global",
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"usb_ports": [
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"2-1",
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"2-3"
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],
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"camera_name": [
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"camera_01",
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"camera_02"
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]
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}
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}
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```
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* `time_domain` : Timestamp Type
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* `usb_ports` : "primary", "secondary 1", "secondary 2", "secondary 3", fill in as many usb_ports as there are cameras
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* `camera_name` : The name of the camera setting, for example: camera_01
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---
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**DevicesInfo.txt**
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## System Configuration Requirements
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Edit DevicesInfo.txt. Only the `primarySerialNumber`, `index` and `serialNumber` parameters need to be changed. Other parameters do not need to be changed.Refer to the example of [20250218102900](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900).
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### **Increase USB Buffer Memory**
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* `primarySerialNumber` : The SN serial number of the primary camera
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* `index` : Camera index
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* `serialNumber` : The SN serial number of the camera
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Prevent frame drops caused by concurrent data transmission:
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**Config.ini**
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`echo 512 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb`
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Edit Config.ini.Modify `frameRate` and `tspRangeThreshold`.
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### **Configure Fast DDS**
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## Run this example
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**Run launch and save camera pictures**
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* First terminal
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```bash
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ros2 launch orbbec_camera multi_camera_synced_verify.launch.py
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```
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* Second terminal
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```bash
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ros2 service call /save_rgbir/start_capture orbbec_camera_msgs/srv/SetInt32 '{data: 100}'
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```
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When the terminal displays "over", the image is saved.A new multicamera_sync folder will be generated under the workspace.
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**Camera pictures naming format**
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Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) as an example
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* `color` : This image is a snapshot of the color stream.
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* `SNCP1E5420006D` : The camera's SN serial number is CP1E5420006D.
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* `Index0` : Camera 0 (usually referred to primary camera).
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* `g1739874543227` : “g” represents the global timestamp, which means the global timestamp of this frame is 1739874543227.
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* `f0` : The 0th picture of the color stream acquisition of this camera.
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* `s1739874543327` : "s" represents the timestamp of the current system, which means the current system timestamp of this frame is 1739874543327.
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* `e50` : The exposure of this frame is 50.
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* `d16` : The gain of this frame is 16.
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**Analyzing camera image data**
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You need to copy the modified [Python folder](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python) to the new multi_camera_synced subdirectory, and copy the modified [DevicesInfo.txt ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt)and [StreamProfileInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/StreamProfileInfo.txt) to the same level directory as the TotalModeFrames folder.
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* Finally everything is ready, run the python script
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```bash
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cd multicamera_sync/Python
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python3 SyncFramesMain.py
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```
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After the operation is successful, you can view the synchronization effect in the `results folder`
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## Files that need to be changed
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**Analysis tools**
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* [multi_save_rgbir_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json)
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* [DevicesInfo.txt ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/DevicesInfo.txt)
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* [Config.ini](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini)
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**Camera Configuration**
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[camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/camera_params.yaml)(Camera startup parameter settings)
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[multi_camera_synced_verify.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multi_camera_synced_verify.launch.py)
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Optimize ROS2 node communication latency to reduce image transmission delay.
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See [this section](../performance/fastdds_tuning.md) for detailed configuration instructions.
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